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Add dual Y-axis support with per-series axis selection #8

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Add dual Y-axis support with per-series axis selection #8

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18e5374
Add legend option for field-name-only labels
sevahul Jul 27, 2026
b927a4e
feat: add support for dual y-axes with configurable right axis
sevahul Jul 28, 2026
5f071dc
feat: implement dual display surface options for 2D plots
sevahul Jul 29, 2026
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15 changes: 15 additions & 0 deletions include/rviz_2d_plot_plugin/plot_2d_config.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,12 @@ enum class PlotMode
XY,
};

enum class DisplaySurface
{
Overlay,
Panel,
};

enum class XYHistoryMode
{
RollingTimeWindow,
Expand All @@ -61,6 +67,12 @@ enum class XYAxisScaleMode
Equal,
};

enum class SeriesAxis
{
Left,
Right,
};

enum class TimeSource
{
ReceiveTime,
Expand Down Expand Up @@ -170,6 +182,7 @@ struct SeriesColor
struct SeriesConfig
{
bool enabled{true};
SeriesAxis axis{SeriesAxis::Left};
std::string topic;
std::string x_field;
std::string y_field;
Expand Down Expand Up @@ -208,8 +221,10 @@ struct Plot2DConfig
std::vector<SeriesConfig> series{SeriesConfig{}};
std::vector<ReferenceConfig> references;
PlotMode plot_mode{PlotMode::TimeSeries};
DisplaySurface display_surface{DisplaySurface::Panel};
XAxisConfig x_axis;
AxisConfig y_axis;
AxisConfig y_axis_right;
TimeConfig time;
QoSConfig qos;
LayoutConfig layout;
Expand Down
25 changes: 25 additions & 0 deletions include/rviz_2d_plot_plugin/plot_2d_display.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,8 @@
#include "rviz_2d_plot_plugin/plot_2d_renderer.hpp"
#include "rviz_2d_plot_plugin/topic_field_introspection.hpp"

class QSize;

namespace rviz_common
{
class Config;
Expand All @@ -43,6 +45,7 @@ namespace rviz_2d_plot_plugin
{

class OverlayBackend;
class PlotImagePanelWidget;
class Plot2DDisplayTestAccessor;
class Plot2DSubscriptionManager;

Expand All @@ -68,6 +71,7 @@ class Plot2DDisplay : public rviz_common::Display
private Q_SLOTS:
void onConfigPropertyChanged();
void onRenderPropertyChanged();
void onDisplaySurfaceChanged();
void onSeriesAppearancePropertyChanged();
void onReferencePropertyChanged();
void onPlotModeChanged();
Expand Down Expand Up @@ -99,6 +103,7 @@ private Q_SLOTS:
rviz_common::properties::EditableEnumProperty * x_field{nullptr};
rviz_common::properties::EditableEnumProperty * y_field{nullptr};
rviz_common::properties::EditableEnumProperty * field{nullptr};
rviz_common::properties::EnumProperty * axis{nullptr};
rviz_common::properties::StringProperty * label{nullptr};
rviz_common::properties::StringProperty * unit{nullptr};
rviz_common::properties::ColorProperty * color{nullptr};
Expand Down Expand Up @@ -170,15 +175,20 @@ private Q_SLOTS:
RenderSnapshot renderSnapshot_() const;
PlotRenderSettings renderSettingsFromProperties_() const;
PlotRenderSettings renderSettingsFromConfig_(const Plot2DConfig & config) const;
PlotRenderSettings renderSettingsForSurface_(const Plot2DConfig & config) const;
std::vector<RenderableSeries> renderableSeries_() const;
std::vector<RenderableSeries> renderableSeriesFromSnapshot_(
const RenderSnapshot & snapshot) const;
std::vector<RenderableReference> renderableReferences_() const;
std::vector<RenderableReference> renderableReferencesFromConfig_(
const Plot2DConfig & config) const;
void initializeOverlayBackend_();
void initializePanelWidget_();
void synchronizePresentationMode_(const Plot2DConfig & config);
void updatePresentationPropertyVisibility_(const Plot2DConfig & config);
void updateOverlayGeometry_();
void updateOverlayGeometry_(const Plot2DConfig & config);
QSize panelRenderSize_() const;
void renderOverlay_(bool request_rviz_render = true);
void unsubscribe_();
bool shouldRetrySubscriptions_() const;
Expand All @@ -190,6 +200,7 @@ private Q_SLOTS:

rviz_common::properties::BoolProperty * pause_plot_property_{nullptr};
rviz_common::properties::BoolProperty * clear_history_property_{nullptr};
rviz_common::properties::EnumProperty * display_surface_property_{nullptr};
rviz_common::properties::EnumProperty * plot_mode_property_{nullptr};
rviz_common::properties::Property * series_root_property_{nullptr};
rviz_common::properties::IntProperty * series_count_property_{nullptr};
Expand All @@ -214,6 +225,10 @@ private Q_SLOTS:
rviz_common::properties::BoolProperty * auto_scale_property_{nullptr};
rviz_common::properties::FloatProperty * y_min_property_{nullptr};
rviz_common::properties::FloatProperty * y_max_property_{nullptr};
rviz_common::properties::Property * right_y_axis_root_property_{nullptr};
rviz_common::properties::BoolProperty * right_y_auto_scale_property_{nullptr};
rviz_common::properties::FloatProperty * right_y_min_property_{nullptr};
rviz_common::properties::FloatProperty * right_y_max_property_{nullptr};
rviz_common::properties::Property * grid_root_property_{nullptr};
rviz_common::properties::BoolProperty * show_major_grid_property_{nullptr};
rviz_common::properties::BoolProperty * show_minor_grid_property_{nullptr};
Expand All @@ -232,9 +247,17 @@ private Q_SLOTS:
rviz_common::properties::Property * legend_root_property_{nullptr};
rviz_common::properties::BoolProperty * show_legend_property_{nullptr};
rviz_common::properties::BoolProperty * show_latest_values_property_{nullptr};
rviz_common::properties::BoolProperty * legend_field_name_only_property_{nullptr};
rviz_common::properties::EnumProperty * legend_position_property_{nullptr};
rviz_common::properties::IntProperty * legend_x_offset_property_{nullptr};
rviz_common::properties::IntProperty * legend_y_offset_property_{nullptr};
rviz_common::properties::Property * right_legend_root_property_{nullptr};
rviz_common::properties::BoolProperty * show_right_legend_property_{nullptr};
rviz_common::properties::BoolProperty * merge_right_legend_with_left_property_{nullptr};
rviz_common::properties::BoolProperty * show_right_latest_values_property_{nullptr};
rviz_common::properties::EnumProperty * right_legend_position_property_{nullptr};
rviz_common::properties::IntProperty * right_legend_x_offset_property_{nullptr};
rviz_common::properties::IntProperty * right_legend_y_offset_property_{nullptr};
rviz_common::properties::Property * layout_root_property_{nullptr};
rviz_common::properties::IntProperty * width_property_{nullptr};
rviz_common::properties::IntProperty * height_property_{nullptr};
Expand All @@ -251,6 +274,8 @@ private Q_SLOTS:
rviz_common::properties::IntProperty * font_size_property_{nullptr};

std::unique_ptr<OverlayBackend> overlay_backend_;
PlotImagePanelWidget * panel_widget_{nullptr};
bool panel_widget_registered_{false};
std::function<std::unique_ptr<OverlayBackend>(std::string)> overlay_backend_factory_;
rclcpp::Node::SharedPtr node_;
RosGraphOps ros_graph_ops_;
Expand Down
13 changes: 13 additions & 0 deletions include/rviz_2d_plot_plugin/plot_2d_renderer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,8 @@ struct RenderableSeries
QColor color{80, 170, 255};
std::vector<PlotSample> samples;
std::string unit;
std::string field_name;
SeriesAxis axis{SeriesAxis::Left};
bool enabled{true};
double line_width{2.0};
LineStyle line_style{LineStyle::Solid};
Expand Down Expand Up @@ -69,16 +71,27 @@ struct PlotRenderSettings
double fixed_y_min{-1.0};
double fixed_y_max{1.0};
double y_padding_fraction{0.08};
AxisScaleMode right_y_scale_mode{AxisScaleMode::Auto};
double fixed_right_y_min{-1.0};
double fixed_right_y_max{1.0};
double right_y_padding_fraction{0.08};
QColor background_color{0, 0, 0, 190};
QColor axis_color{230, 230, 230, 230};
QColor grid_color{130, 130, 130, 80};
QColor text_color{245, 245, 245, 235};
int font_size{8};
bool show_legend{true};
bool show_latest_values{true};
bool legend_field_name_only{false};
LegendPosition legend_position{LegendPosition::TopLeft};
int legend_x_offset{4};
int legend_y_offset{4};
bool show_right_legend{true};
bool merge_right_legend_with_left{false};
bool show_right_latest_values{true};
LegendPosition right_legend_position{LegendPosition::TopRight};
int right_legend_x_offset{4};
int right_legend_y_offset{4};
bool show_major_grid{true};
bool show_minor_grid{true};
int x_major_tick_count{6};
Expand Down
1 change: 1 addition & 0 deletions src/plot_2d_config.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -130,6 +130,7 @@ void Plot2DConfig::repair()
}

y_axis.repairFixedRange();
y_axis_right.repairFixedRange();
x_axis.repairFixedRange();
time.repair();
qos.repair();
Expand Down
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